This article proposes a distributed control method for networked manipulators to cooperatively transport an unmodeled object without force measurement. First, we design an adaptive neural network control algorithm, based on the wavelet neural network, to estimate unknown system dynamics. A novel task-space synchronization control is studied with triggering condition for the network under time-varying communication delays, to improve the cooperative quality while reducing the network burden. The proposed control method ensures uniform ultimate boundedness of velocity/position tracking errors and boundedness of the internal force with the avoidance of Zeno behavior. Moreover, the robustness of networked uncertain manipulators is guaranteed. Finally, a numerical simulation and experiments are carried to demonstrate the performance and efficiency of the proposed control algorithm.

中文翻译：

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具有无力传感器控制和事件触发同步的网络不确定机械臂的物体运输


本文提出了一种网络机械臂的分布式控制方法，可以在无需力测量的情况下协作运输未建模的物体。首先，我们设计了一种基于小波神经网络的自适应神经网络控制算法来估计未知系统动态。研究了一种新颖的任务空间同步控制，其具有时变通信延迟下的网络触发条件，以提高协作质量，同时减轻网络负担。所提出的控制方法确保了速度/位置跟踪误差的统一最终有界性和内力的有界性，避免了芝诺行为。此外，保证了网络化不确定机械手的鲁棒性。最后，进行数值模拟和实验来验证所提出的控制算法的性能和效率。